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genspheres

Generate spheres along central line segment of capsule

    Description

    example

    spheres = genspheres(capsule,ratio) generates spheres along the central line segment of the collision capsule capsule at the specified normalized positions ratio of the line segment.

    Examples

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    Create a collision capsule with a radius of 2 and length of 10. Visualize the capsule.

    cCapsule = collisionCapsule(2,10);
    [~,p] = show(cCapsule);

    Generate spheres at ratios 0.0, 0.5, and 1.0 of the capsule length.

    spheres = genspheres(cCapsule,linspace(0,1,3));

    Display the positions of the spheres.

    for i = 1:length(spheres)
        disp(tform2trvec(spheres{i}.Pose))
    end
         0     0    -5
    
         0     0     0
    
         0     0     5
    

    Set the face and edge alphas of the capsule to low values. This ensures that both the spheres are visible when you add them to the figure.

    p.FaceAlpha = 0.4;
    p.EdgeAlpha = 0.01;
    hold on

    Display the generated spheres on the capsule.

    cellfun(@show,spheres);

    Figure contains an axes object. The axes object contains 4 objects of type patch.

    Input Arguments

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    Collision capsule, specified as a collisionCapsule object.

    Example: collisionCapsule(3,5)

    Normalized positions along the central line segment of the collision capsule, specified as an N-element row vector of values in the range [0, 1]. N is the number of collision spheres to generate. Each element specifies the position of a sphere as a percentage of the central segment length.

    Example: For collision capsule with a central line segment length of 4 meters, a ratio position vector [0.25 0.5 0.75] generates collision spheres at 1, 2, and 3 meters along the central line segment of the collision capsule.

    Output Arguments

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    Collision spheres, returned as an N-element cell array of collisionSphere objects, where N is the number of generated collision spheres.

    Extended Capabilities

    Version History

    Introduced in R2022b